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Yes. Matthew 26:30 and Mark 14:26 both state:
When they had sung a hymn, they went out to the Mount of Olives.
"They" here refers to Jesus and His disciples. It occurred immediately after The Last Supper.
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It is believed that Jesus taught the Our Father prayer in verses-- verses which perfectly rhymed. Jack Kilmon, the Bible scholar did a retro-translation of the prayer into Aramaic, the language which Jesus spoke, and came out with the astonishing finding that it indeed was a beautiful poem, which Jesus must have sung and His disciples repeated.
(P.S.: Please visit 'Scriptorium' hosted by Jack Kilmon to know more. )